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<h1>t2r</h1><p><span class="helptopic">Rotational submatrix</span></p><p>
<strong>R</strong> = <span style="color:red">t2r</span>(<strong>T</strong>) is the orthonormal rotation matrix component of homogeneous
transformation matrix <strong>T</strong>.  Works for <strong>T</strong> in SE(2) or SE(3)

</p>
<ul>
  <li>If T is 4x4, then R is 3x3.</li>
  <li>If T is 3x3, then R is 2x2.</li>
</ul>
<h2>Notes</h2>
<ul>
  <li>For a homogeneous transform sequence (KxKxN) returns a rotation matrix
sequence (K-1xK-1xN).</li>
  <li>The validity of rotational part is not checked</li>
</ul>
<h2>See also</h2>
<p>
<a href="r2t.html">r2t</a>, <a href="tr2rt.html">tr2rt</a>, <a href="rt2tr.html">rt2tr</a></p>
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